Modeling and Analysis for Obstacle Avoidance of a Behavior-Based Robot with Objected Oriented Methods

摘要

Object Modeling Technique is widely applied in the field of software engineering; and in this paper we applied this technique to model a mobile robot including its behaviors and interactions with environment. The paper first describes key background knowledge about object oriented analysis in software engineering, behavior based robotics and their similarities. Then, based on these similarities, the paper uses object oriented methods of software engineering, such as unified modeling language (UML), to analyze and model the architecture; and to design behaviors for a behavior-based robot, which is expected to wander with autonomous obstacle avoidance in unknown environment. Object oriented methods permit a translation from conceptual behavior models to computer programming representations, and separate concrete control algorithms from robot modeling. With this approach, the paper implements a fuzzy algorithm for obstacle avoidance behavior of the constructed behavior models in a physical robot, and made experiments in the given indoor environment.